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Principal Geodesic Dynamics

Maxime Tournier 1 Lionel Reveret 2
1 DEMAR - Artificial movement and gait restoration
CRISAM - Inria Sophia Antipolis - Méditerranée , LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 MORPHEO - Capture and Analysis of Shapes in Motion
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, Grenoble INP - Institut polytechnique de Grenoble - Grenoble Institute of Technology
Abstract : This paper presents a new integration of a data-driven approach using dimension reduction and a physically-based simulation for real-time character animation. We exploit Lie group statistical analysis techniques (Principal Geodesic Analysis, PGA) to approximate the pose manifold of a motion capture sequence by a reduced set of pose geodesics. We integrate this kinematic parametrization into a physically-based animation approach of virtual characters, by using the PGA-reduced parametrization directly as generalized coordinates of a Lagrangian formulation of mechanics. In order to achieve real-time without sacrificing stability, we derive an explicit time integrator by approximating existing variational integrators. Finally, we test our approach in task-space motion control. By formulating both physical simulation and inverse kinematics time stepping schemes as two quadratic programs, we propose a features-based control algorithm that interpolates between the two metrics. This allows for an intuitive trade-off between realistic physical simulation and controllable kinematic manipulation.
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https://hal.inria.fr/hal-00727384
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Submitted on : Thursday, September 6, 2012 - 2:49:13 PM
Last modification on : Wednesday, July 1, 2020 - 1:46:06 PM
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Maxime Tournier, Lionel Reveret. Principal Geodesic Dynamics. SCA 2012 - EG/SIGGRAPH Symposium on Computer Animation, Jul 2012, Lausanne, Switzerland. pp.235-244, ⟨10.2312/SCA/SCA12/235-244⟩. ⟨hal-00727384⟩

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